Distributed Data-aggregation Consensus for Sensor Networks: Relaxation of Consensus Concept and Convergence Property

Abstract : This project considers the problem of localization and tracking an underwater target from bearings-only measurements obtained by static underwater sensors. Nodes communicate their local observations over volatile, unreliable underwater channels with the aim being to improve the overall accuracy of each sensors estimate, while also aligning the estimates so that all nodes agree on the target location. This report summarizes our initial investigation of having each node locally run a particle filter for state estimation.